Articulated hydraulic manipulators are widely used for moving heavy loads. Commercial manipulators are most often equipped with a rotating load-grasping tool connected at the end of the manipulator via a pair of passive (unactuated) revolute joints. In free-space motion, these passive joints are subject to swaying motions due to the manipulator tip accelerations. Because these passive joints are not directly controllable due to their passive nature, a skilled driver is needed to compensate for the load swaying. In this paper, we extend the nonlinear model-based Virtual Decomposition Control (VDC) theory to cover anti-sway control of underactuated multiple degrees-of-freedom (DOF) hydraulic redundant manipulators. The proposed nonlinear controller performs the control design and stability analysis of the hydraulic robotic manipulator at the subsystem level. Experiments are conducted in a full-scale loader manipulator to verify that the proposed controller can efficiently damp the load swaying in a case study of redundant vertical plane motion.
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ASME/BATH 2017 Symposium on Fluid Power and Motion Control
October 16–19, 2017
Sarasota, Forida, USA
Conference Sponsors:
- Fluid Power Systems and Technology Division
ISBN:
978-0-7918-5833-2
PROCEEDINGS PAPER
Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane Available to Purchase
Pauli Mustalahti,
Pauli Mustalahti
Tampere University of Technology, Tampere, Finland
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Janne Koivumäki,
Janne Koivumäki
Tampere University of Technology, Tampere, Finland
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Jouni Mattila
Jouni Mattila
Tampere University of Technology, Tampere, Finland
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Pauli Mustalahti
Tampere University of Technology, Tampere, Finland
Janne Koivumäki
Tampere University of Technology, Tampere, Finland
Jouni Mattila
Tampere University of Technology, Tampere, Finland
Paper No:
FPMC2017-4263, V001T01A031; 10 pages
Published Online:
December 4, 2017
Citation
Mustalahti, P, Koivumäki, J, & Mattila, J. "Stability-Guaranteed Anti-Sway Controller Design for a Redundant Articulated Hydraulic Manipulator in the Vertical Plane." Proceedings of the ASME/BATH 2017 Symposium on Fluid Power and Motion Control. ASME/BATH 2017 Symposium on Fluid Power and Motion Control. Sarasota, Forida, USA. October 16–19, 2017. V001T01A031. ASME. https://doi.org/10.1115/FPMC2017-4263
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